CN117707225A - Portable two-axis electric pointing mechanism - Google Patents
Portable two-axis electric pointing mechanism Download PDFInfo
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- CN117707225A CN117707225A CN202410166346.2A CN202410166346A CN117707225A CN 117707225 A CN117707225 A CN 117707225A CN 202410166346 A CN202410166346 A CN 202410166346A CN 117707225 A CN117707225 A CN 117707225A
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Abstract
The invention relates to the technical field of photoelectric engineering, and particularly provides a portable two-axis electric pointing mechanism, which comprises: the servo control and data processing system is used for measuring the erection inclination angle of the base, carrying out attitude calculation on the erection inclination angle, and correcting the pointing error caused by the inclination of the base by sending a motion instruction and driving the pitching rotation shaft and the azimuth rotation shaft to move; the armature of the torque motor is connected with the input shaft of the zero back clearance harmonic reducer through the motor output shaft, and the output shaft of the zero back clearance harmonic reducer is connected with the corresponding rotating shaft; the code wheel of the encoder is sleeved on the output shaft of the zero back clearance harmonic reducer; the armature of the electromagnetic brake is sleeved on the rear rotating shaft of the torque motor. The torque motor is matched with the driving scheme of the zero back clearance harmonic reducer, the electromagnetic brake is arranged at the rear end of the torque motor, so that the pointing mechanism has pointing holding capacity, and the torque motor has a compact structure and a highly integrated structure of an electromechanical system, and improves dynamic characteristics and pointing precision.
Description
Technical Field
The invention relates to the technical field of photoelectric engineering, and particularly provides a portable two-axis electric pointing mechanism.
Background
In the field of photoelectric engineering, a PAT (Pointing Acquiring Tracking, pointing, capturing and tracking) system is an important component of various precise instruments such as photoelectric tracking, laser communication, photoelectric scanning detection, laser ranging and the like, and can realize the functions of pointing, aiming or tracking of any azimuth angle of space. In PAT systems, CPA (Corse Pointing Assembly, coarse pointing mechanism) is one of the key mechanisms for achieving capture tracking, generally has two axes of motion, and conventional two-axis pointing mechanisms can be divided into two categories according to the presence or absence of a speed reducer: direct-drive type two-axis pointing mechanism and non-direct-drive type two-axis pointing mechanism. The direct-drive type pointing mechanism generally adopts a larger torque motor as a driving element, and has no speed reducing mechanism, but has large volume and high cost; the non-direct-drive type pointing mechanism usually adopts a stepping motor or a direct-current motor as a driving element, and a speed reducer (a gear pair/a gear set or a worm gear and the like) is needed to be matched for use due to small output torque of the motor, and the speed reducer has backlash, so that the type of mechanism has low motion precision, poor dynamic response characteristic and large motion noise.
Disclosure of Invention
The invention provides a portable two-axis electric pointing mechanism for solving the problems.
The invention provides a portable two-axis electric pointing mechanism, which comprises:
the system comprises a pitching axis movement mechanism module, a first pitching axis supporting unit, a second pitching axis supporting unit, a load supporting plate, an azimuth axis movement mechanism module, an azimuth axis supporting unit, a base and a servo control and data processing system;
the two ends of the load supporting plate are respectively connected with the first pitching shaft supporting unit and the second pitching shaft supporting unit, the pitching shaft movement mechanism module is connected with the first pitching shaft supporting unit, and the azimuth shaft movement mechanism module is connected with the base through the azimuth shaft supporting unit;
the servo control and data processing system is used for measuring the erection inclination angle of the base, carrying out gesture resolving on the erection inclination angle, and respectively sending a motion instruction to the pitching axis motion mechanism module and the azimuth axis motion structure module to drive the pitching rotation axis of the first pitching axis support unit and the azimuth rotation axis of the azimuth axis support unit to move so as to correct the pointing error caused by the inclination of the base;
the pitching axis movement mechanism module and the azimuth axis movement mechanism module comprise a module shell, a torque motor, an encoder, a zero back clearance harmonic reducer and an electromagnetic brake;
the stator of each moment motor is arranged on the corresponding module shell, and the rotor of each moment motor is connected with the input shaft of the corresponding zero-backlash harmonic reducer through the motor output shaft; an output shaft of the zero back clearance harmonic reducer of the pitching axis movement mechanism module is connected with a pitching rotation shaft of the first pitching axis supporting unit; the output shaft of the zero back clearance harmonic reducer of the azimuth axis motion mechanism module is connected with the azimuth rotation shaft of the azimuth axis support unit; the code wheel of each encoder is sleeved on the output shaft of the corresponding zero back clearance harmonic reducer; and the armature iron of each electromagnetic brake is sleeved on the rear rotating shaft of the corresponding torque motor.
Preferably, the method further comprises: the pitching mechanical limiting mechanism is characterized in that a limiting stop lever of the pitching mechanical limiting mechanism is sleeved on a pitching rotating shaft of the second pitching shaft supporting unit.
Preferably, the servo control and data processing system comprises a main controller, a pitching axis servo module, an azimuth axis servo module, a power module and an attitude measuring element;
the attitude measurement element is used for measuring the erection inclination angle of the base, the obtained data are transmitted to the main controller for attitude calculation, the correction angles of the pitching rotation shaft of the first pitching shaft support unit, the pitching rotation shaft of the second pitching shaft support unit and the azimuth rotation shaft are generated through an attitude correction algorithm, then the main controller is used for transmitting movement instructions to the pitching shaft servo module and the azimuth shaft servo module, the pitching shaft servo module is used for driving the pitching shaft movement mechanism module, and the azimuth shaft servo module is used for driving the azimuth shaft movement mechanism module so as to drive the pitching rotation shaft of the first pitching shaft support unit and the azimuth rotation shaft to move, so that the pointing error caused by the inclination of the base is corrected.
Preferably, the device further comprises a first support arm and a second support arm, wherein two ends of the load support plate are connected with the first pitching shaft support unit and the second pitching shaft support unit through the first support arm and the second support arm respectively.
Preferably, the device further comprises a first pitching shaft sealing mechanism, a second pitching shaft sealing mechanism and an azimuth shaft sealing mechanism, wherein the first pitching shaft sealing mechanism, the second pitching shaft sealing mechanism and the azimuth shaft sealing mechanism are all in cylindrical revolving structures, and the inner diameter of the first pitching shaft sealing mechanism is tightly matched with a pitching rotation shaft of the first pitching shaft supporting unit;
the inner diameter of the second pitching shaft sealing mechanism is tightly matched with the pitching rotation shaft of the second pitching shaft supporting unit;
the inner diameter of the azimuth shaft sealing mechanism is tightly matched with the azimuth rotation shaft of the azimuth shaft supporting unit.
Preferably, the device further comprises a pitching electric limiting mechanism, wherein a moving element of the pitching electric limiting mechanism is sleeved on a pitching rotation shaft of the second pitching shaft supporting unit.
Preferably, the system further comprises a man-machine interaction interface unit and a display screen, wherein the man-machine interaction interface unit and the display screen are respectively connected with the servo control and data processing system.
Preferably, the device further comprises a main shell, wherein the pitching axis movement mechanism module, the first pitching axis supporting unit, the second pitching axis supporting unit, the azimuth axis movement mechanism module, the azimuth axis supporting unit and the servo control and data processing system are all installed in the inner cavity of the main shell.
Compared with the prior art, the invention has the following beneficial effects:
a portable two-axis electric pointing mechanism, comprising: the system comprises a pitching axis movement mechanism module, a first pitching axis supporting unit, a second pitching axis supporting unit, a load supporting plate, an azimuth axis movement mechanism module, an azimuth axis supporting unit, a base and a servo control and data processing system; the pitching axis movement mechanism module is connected with the two ends of the load supporting plate through the first pitching axis supporting unit and the second pitching axis supporting unit respectively, and the azimuth axis movement mechanism module is connected with the base through the azimuth axis supporting unit; the servo control and data processing system is used for measuring the erection inclination angle of the base, carrying out gesture resolving on the erection inclination angle, and respectively sending motion instructions to the pitching axis motion mechanism module and the azimuth axis motion mechanism module to drive pitching rotation shafts of the first pitching axis support unit and the second pitching axis support unit and azimuth rotation shafts of the azimuth axis support units to move so as to correct pointing errors caused by the inclination of the base; the pitching axis movement mechanism module and the azimuth axis movement mechanism module comprise a module shell, a torque motor, an encoder, a zero back clearance harmonic reducer and an electromagnetic brake; the stator of the torque motor is arranged on the module shell, the rotor of the torque motor is connected with the input shaft of the zero back clearance harmonic reducer through a motor output shaft, and the output shaft of the zero back clearance harmonic reducer is connected with a corresponding rotating shaft, wherein the output shaft of the zero back clearance harmonic reducer of the pitching axis movement mechanism module is connected with the pitching rotating shaft of the first pitching axis support unit and the pitching rotating shaft of the second pitching axis support unit; the output shaft of the zero back clearance harmonic reducer of the azimuth axis motion mechanism module is connected with the azimuth rotation shaft of the azimuth axis support unit; the code wheel of the encoder is sleeved on the output shaft of the zero back clearance harmonic speed reducer, and the reading head of the encoder is arranged on the module shell; the magnetic yoke of the electromagnetic brake is arranged on the module shell, and the armature of the electromagnetic brake is sleeved on the rear rotating shaft of the torque motor. Therefore, the portable two-shaft electric pointing mechanism adopts a driving scheme that a torque motor is matched with a zero back clearance harmonic reducer, and an electromagnetic brake is arranged at the rear end of the torque motor so that the pointing mechanism has pointing holding capacity, and on one hand, the portable two-shaft electric pointing mechanism has the structural characteristics of high compactness, high integration of an electromechanical system and small appearance, and on the other hand, the dynamic characteristic and pointing precision are improved.
Drawings
Fig. 1 is a block diagram of a portable two-axis electric pointing mechanism according to embodiment 1 of the present invention;
fig. 2 is a block diagram of a pitch axis movement mechanism module of the portable two-axis electric pointing mechanism according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram of the operation of the portable two-axis electric pointing mechanism according to embodiment 1 of the present invention;
fig. 4 is a schematic perspective view of a portable two-axis electric pointing mechanism according to embodiment 1 of the present invention;
fig. 5 is a schematic perspective view of a portable two-axis electric pointing mechanism according to embodiment 1 of the present invention;
fig. 6 is a schematic structural diagram of a man-machine interaction interface unit of the portable two-axis electric pointing mechanism according to embodiment 1 of the present invention.
Wherein reference numerals include:
100-a portable two-axis electric pointing mechanism; 10-a pitch axis motion mechanism module; 11-a module housing; 12-torque motor; 13-an encoder; 14-zero backlash harmonic reducer; 15-an electromagnetic brake; 20-a first pitch axis support unit; 30-a second pitch axis support unit; 40-a load support plate; 50-a azimuth axis movement mechanism module; 60-azimuth axis support units; 70-a servo control and data processing system; 80-a base; 90-a main housing; 91-a first arm; 92-a second arm; 93-left side cover plate; 94-right side cover plate; 95-front cover plate; 96-back cover plate; 97-bottom support plate; 98-a human-computer interaction interface unit; 981-display screen; 982-lock button; 983-function select button; 984-fine tuning buttons; 985-operating handle; 986-external connector; 99-power button.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, like modules are denoted by like reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, a detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
Example 1
The invention provides a portable two-axis electric pointing mechanism, as shown in figure 1, comprising:
a pitch axis motion mechanism module 10, a first pitch axis support unit 20, a second pitch axis support unit 30, a load support plate 40, an azimuth axis motion mechanism module 50, an azimuth axis support unit 60, a base 80, and a servo control and data processing system 70;
the two ends of the load support plate 40 are respectively connected with the first pitching axis support unit 20 and the second pitching axis support unit 30, the pitching axis movement mechanism module 10 is connected with the first pitching axis support unit 20, and the azimuth axis movement mechanism module 50 is connected with the base 80 through the azimuth axis support unit 60;
the servo control and data processing system 70 is configured to measure an erection tilt angle of the base 80, perform attitude calculation on the erection tilt angle, and send a motion command to the pitch axis motion mechanism module 10 and the azimuth axis motion mechanism module 50 to drive the pitch axis of the first pitch axis support unit 20 and the azimuth axis of the azimuth axis support unit 60 to move, so as to correct an orientation error caused by the inclination of the base 80;
as shown in fig. 2, the pitch axis motion mechanism module 10 and the azimuth axis motion mechanism module 50 each include a module housing 11, a torque motor 12, an encoder 13, a zero backlash harmonic reducer 14, and an electromagnetic brake 15;
the stator of each moment motor 12 is mounted on the corresponding module shell 11, and the rotor of each moment motor 12 is connected with the input shaft of the corresponding zero-backlash harmonic reducer 14 through a motor output shaft; an output shaft of the zero backlash harmonic reducer 14 of the pitch axis movement mechanism module 10 is connected with a pitch rotation shaft of the first pitch axis support unit 20; and the output shaft of the zero backlash harmonic reducer of the azimuth axis motion mechanism module 50 is connected to the azimuth axis of rotation of the azimuth axis support unit 60; the code wheel of each encoder 13 is sleeved on the output shaft of the corresponding zero back clearance harmonic reducer 14; the armature of each electromagnetic brake 15 is fitted over the rear rotation shaft of the corresponding torque motor 12.
As described above, as shown in fig. 1 to 3, each of the first pitch axis support unit 20 and the second pitch axis support unit 30 includes a pitch rotation axis, a pitch support bearing, a pitch axis bearing housing, and the like.
Specifically, the pitch axis motion mechanism module 10 is connected to the pitch rotation axis of the first pitch axis support unit 20, and the pitch rotation axis of the first pitch axis support unit 20 and the pitch rotation axis of the second pitch axis support unit 30 are connected to the two ends of the load support plate 40, respectively.
The servo control and data processing system 70 is connected to the pitch axis movement mechanism module 10 and the azimuth axis movement mechanism module 50, and the servo control and data processing system 70 is configured to measure an erection inclination angle of the base 80 and perform attitude calculation on the erection inclination angle, and by sending a movement command to the pitch axis movement mechanism module 10 and the azimuth axis movement mechanism module 50, the pitch axis movement mechanism module 10 is configured to drive a pitch rotation axis (not shown in the figure) of the first pitch axis support unit 20 to move, and simultaneously the azimuth axis movement mechanism module 50 is configured to drive an azimuth rotation axis (not shown in the figure) of the azimuth axis support unit 60 to move, thereby correcting a pointing error caused by the inclination of the base 80.
The pitch axis motion mechanism module 10 and the azimuth axis motion mechanism module 50 have the same internal composition principle, and taking the pitch axis motion mechanism module 10 as an example, the pitch axis motion mechanism module comprises a module shell 11, a torque motor 12, an encoder 13, a zero back clearance harmonic reducer 14 and an electromagnetic brake 15. The model numbers (technical parameters) of the devices in the pitching axis movement mechanism module 10 and the azimuth axis movement mechanism module 50 can be the same, and different model numbers can be adopted according to the use requirements; it should be further noted that, the output shaft of the zero backlash harmonic reducer 14 is connected to the rotation shaft of the first pitch axis support unit 20, and the output shaft of the zero backlash harmonic reducer of the azimuth axis motion mechanism module 50 is connected to the azimuth rotation shaft of the azimuth axis support unit 60.
Therefore, the present embodiment adopts the driving scheme of the small torque motor 12 matched with the zero back clearance harmonic reducer 14, and installs the electromagnetic brake 15 at the rear end of the torque motor 12 to make the pointing mechanism possess the pointing maintaining capability, and the miniaturized servo control and data processing system 70 is integrated inside the pointing mechanism, so that the structure is highly compact, the electromechanical system is highly integrated, the appearance is small, and meanwhile, the present embodiment has the characteristics of good dynamic characteristics and high pointing precision.
In this embodiment, further comprising: the pitching mechanical limiting mechanism is characterized in that a limiting stop lever of the pitching mechanical limiting mechanism is sleeved on a pitching rotation shaft of the second pitching shaft supporting unit 30.
As described above, the pitch mechanical limiting mechanism may adopt components of different structural types, and the structure of this embodiment is that the limiting stop lever (not shown in the drawing) is sleeved on the pitch rotation shaft of the second pitch shaft supporting unit 30, and the limiting bump is mounted on the main housing 90.
In this embodiment, the servo control and data processing system 70 includes a main controller, a pitch axis servo module, an azimuth axis servo module, a power module, and an attitude measurement element;
the attitude measurement element is used for measuring an erection inclination angle of the base 80, the obtained data are transmitted to the main controller for attitude calculation, the attitude correction algorithm is used for generating correction angles of the pitching rotation axis of the first pitching axis support unit 20, the pitching rotation axis of the second pitching axis support unit 30 and the azimuth rotation axis, the main controller is used for sending the motion instruction to the pitching axis servo module and the azimuth axis servo module, the pitching axis servo module drives the pitching axis motion mechanism module 10, the azimuth axis servo module drives the azimuth axis motion mechanism module 50 so as to drive the pitching rotation axis of the first pitching axis support unit 20 and the azimuth rotation axis to move, and therefore the pointing error caused by the inclination of the base 80 is corrected.
As described above, the erection inclination angle of the base 80 can be detected by the attitude measurement element, and the influence of the erection inclination angle on the pointing accuracy of the portable two-axis electric pointing mechanism 100 is eliminated by the attitude compensation algorithm, so that the portable two-axis electric pointing mechanism 100 of the embodiment does not require that the base 80 be erected in a completely horizontal state, thereby improving the convenience of use, reducing the operation difficulty, and realizing high pointing accuracy. In addition, the servo control and data processing system 70, each functional module is designed in a very compact manner, so that it can be arranged by utilizing a narrow space inside the main housing 90, thereby achieving high integration of the mechanism.
Furthermore, a driving scheme of a small direct-drive motor zero-backlash high-speed-ratio speed reducer is adopted, and the driving scheme is compact in structure and large in output torque. In addition, the servo control and data processing system 70 is integrated inside the main housing 90, and the man-machine interaction interface devices are integrated on the panel of the portable two-axis electric pointing mechanism 100, so that the portable characteristics of the portable two-axis electric pointing mechanism 100 are realized.
In this embodiment, the load support plate further includes a first arm 91 and a second arm 92, and two ends of the load support plate 40 are connected to the first pitch axis support unit 20 and the second pitch axis support unit 30 through the first arm 91 and the second arm 92, respectively.
The two ends of the load support plate 40 are connected to one ends of the first arm 91 and the second arm 92, respectively, the other end of the first arm 91 is connected to the pitch rotation axis of the first pitch axis support unit 20, and the other end of the second arm 92 is connected to the pitch rotation axis of the second pitch axis support unit 30.
It should be further noted that, in this embodiment, the pitch axis servo module drives the pitch axis motion mechanism module 10, the pitch axis motion mechanism module 10 drives the first pitch axis supporting unit 20, the second pitch axis supporting unit 30 is in a follow-up relationship, and the motion conducting path is that the first pitch axis supporting unit 20 drives the first arm 91 to drive the load supporting plate 40, then drives the second arm 92 to drive the second pitch axis supporting unit 30, and the second pitch axis supporting unit 30 is only a follow-up supporting structure of the load supporting plate 40.
In this embodiment, the device further includes a first pitch axis sealing mechanism, a second pitch axis sealing mechanism, and an azimuth axis sealing mechanism, where the first pitch axis sealing mechanism, the second pitch axis sealing mechanism, and the azimuth axis sealing mechanism are all cylindrical solid of revolution structures, and an inner diameter of the first pitch axis sealing mechanism and a pitch rotation axis of the first pitch axis supporting unit 20 form a tight shaft hole fit;
the inner diameter of the second pitch axis sealing mechanism is tightly matched with the pitch rotation axis of the second pitch axis supporting unit 30;
the inner diameter of the azimuth shaft sealing mechanism is tightly matched with the azimuth rotation shaft of the azimuth shaft supporting unit 60.
The outer diameters of the first pitch axis sealing mechanism, the second pitch axis sealing mechanism and the azimuth axis sealing mechanism are all embedded on the main housing 90.
In this embodiment, the device further includes a pitch electrical limiting mechanism, and a moving element (not shown in the figure) of the pitch electrical limiting mechanism is sleeved on a pitch rotation shaft of the second pitch axis support unit 30.
The pitch electric limiting mechanism may be different types of mechanisms, such as a photoelectric electric limiting mechanism, a lever type electric limiting mechanism, a hall type electric limiting mechanism, and the like, and comprises a fixed element and a moving element, wherein the fixed element (or called a stationary element) is mounted on the main housing 90, and the moving element is sleeved on the pitch rotation shaft of the second pitch shaft supporting unit 30.
In this embodiment, as shown in fig. 1-6, the system further includes a man-machine interaction interface unit 98 and a display 981, where the man-machine interaction interface unit 98 and the display 981 are respectively connected to the servo control and data processing system 70.
The man-machine interaction interface unit 98 and the display screen 981 are mounted on the main housing 90, and the man-machine interaction interface unit 98 may further include a lock button 982, function selection buttons 983, fine adjustment buttons 984 (4), and an operation handle 985. The locking button 982 is used to lock the pitch and azimuth axes of the portable two-axis electric pointing mechanism 100 so that the spatial pointing angle of the portable two-axis electric pointing mechanism 100 remains unchanged. The display 981 is used to display device status such as encoder 13 readings, tilt angle of the base 80, etc.
The function selection button 983 is used in conjunction with the display 981 to perform menu operations such as setting the angular step angle of the fine adjustment button 984, setting the maximum speed of movement of the pointing mechanism pitch and azimuth axes, and the like. The operating handle 985 is used to rapidly operate the pointing mechanism, either with a single axis continuous motion of the pitch axis of rotation, the azimuth axis of rotation, or with simultaneous continuous motion of both axes. The fine adjustment button 984 is used to move the pitch and azimuth axes in a single step at a preset angular step angle.
The interactive operation and the drive control are both on the portable two-axis electric pointing mechanism 100, so that the portable two-axis electric pointing mechanism is highly integrated, miniaturized and light, is beneficial to realizing portability of the whole machine, and is beneficial to realizing rapid combination and disassembly of optical sighting load, the portable two-axis electric pointing mechanism 100 and the external field of a tripod.
In this embodiment, the main housing 90 is further included, and the pitch axis motion mechanism module 10, the first pitch axis support unit 20, the second pitch axis support unit 30, the azimuth axis motion mechanism module 50, the azimuth axis support unit 60, and the servo control and data processing system 70 are all installed in an inner cavity of the main housing 90.
Specifically, the main housing 90 may include a left side cover plate 93, a right side cover plate 94, a front cover plate 95, a rear cover plate 96, and a bottom support plate 97. The main housing 90 is a main supporting structure of the whole portable two-axis electric pointing mechanism 100, and is in a hollow cuboid shape, the first pitching axis supporting unit 20 and the second pitching axis supporting unit 30 are mounted on the left and right sides of the upper portion of the main housing 90 through pitching axis bearing sleeves, and two pitching rotation axes are respectively connected with the first support arm 91 and the second support arm 92.
The front surface of the main shell 90 is provided with a detachable front cover plate 95, and a man-machine interaction interface unit 98 is arranged on the panel; the lower left side of the main shell 90 is provided with a detachable left side cover plate 93, and a main controller, a pitching axis servo module and an azimuth axis servo module of the servo control system are arranged on the panel;
the right side lower part of the main shell 90 is provided with a detachable right cover plate 94, and a power button 99 of the servo control and data processing system 70 and an external connector 986 for data interaction with external equipment are arranged on the right cover plate 94; the attitude measurement element is also mounted on the left inner wall of the main casing 90; the bottom of the main shell 90 is provided with a detachable bottom support plate 97, and the azimuth shaft support unit 60 is centrally arranged on the bottom support plate 97 through an azimuth shaft bearing sleeve; the azimuth axis support unit 60 has an azimuth axis bottom end surface connected to the base 80. The module housing 11 is also mounted to the interior cavity of the main housing 90, wherein the module housing 11 of the azimuth axis motion mechanism module 50 is mounted to the bottom support plate 97.
While embodiments of the present invention have been illustrated and described above, it will be appreciated that the above described embodiments are illustrative and should not be construed as limiting the invention. Variations, modifications, alternatives and variations of the above-described embodiments may be made by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (8)
1. A portable two-axis electric pointing mechanism, comprising:
the system comprises a pitching axis movement mechanism module, a first pitching axis supporting unit, a second pitching axis supporting unit, a load supporting plate, an azimuth axis movement mechanism module, an azimuth axis supporting unit, a base and a servo control and data processing system;
the two ends of the load supporting plate are respectively connected with the first pitching shaft supporting unit and the second pitching shaft supporting unit, the pitching shaft movement mechanism module is connected with the first pitching shaft supporting unit, and the azimuth shaft movement mechanism module is connected with the base through the azimuth shaft supporting unit;
the servo control and data processing system is used for measuring the erection inclination angle of the base, carrying out gesture resolving on the erection inclination angle, and respectively sending a motion instruction to the pitching axis motion mechanism module and the azimuth axis motion mechanism module to drive the pitching rotation axis of the first pitching axis support unit and the azimuth rotation axis of the azimuth axis support unit to move so as to correct the pointing error caused by the inclination of the base;
the pitching axis movement mechanism module and the azimuth axis movement mechanism module comprise a module shell, a torque motor, an encoder, a zero back clearance harmonic reducer and an electromagnetic brake;
the stator of each moment motor is arranged on the corresponding module shell, and the rotor of each moment motor is connected with the input shaft of the corresponding zero-backlash harmonic reducer through the motor output shaft; an output shaft of the zero back clearance harmonic reducer of the pitching axis movement mechanism module is connected with a pitching rotation shaft of the first pitching axis supporting unit; the output shaft of the zero back clearance harmonic reducer of the azimuth axis motion mechanism module is connected with the azimuth rotation shaft of the azimuth axis support unit; the code wheel of each encoder is sleeved on the output shaft of the corresponding zero back clearance harmonic reducer; and the armature iron of each electromagnetic brake is sleeved on the rear rotating shaft of the corresponding torque motor.
2. The portable two-axis electric pointing mechanism according to claim 1, further comprising a pitch mechanical stop mechanism, wherein a stop bar of the pitch mechanical stop mechanism is sleeved on a pitch rotation axis of the second pitch axis support unit.
3. The portable two-axis electric pointing mechanism according to claim 2, wherein the servo control and data processing system comprises a main controller, a pitch axis servo module, an azimuth axis servo module, a power module, and an attitude measurement element;
the attitude measurement element is used for measuring the erection inclination angle of the base, the obtained data are transmitted to the main controller for attitude calculation, the correction angles of the pitching rotation shaft of the first pitching shaft support unit, the pitching rotation shaft of the second pitching shaft support unit and the azimuth rotation shaft are generated through an attitude correction algorithm, then the main controller is used for transmitting movement instructions to the pitching shaft servo module and the azimuth shaft servo module, the pitching shaft servo module is used for driving the pitching shaft movement mechanism module, and the azimuth shaft servo module is used for driving the azimuth shaft movement mechanism module so as to drive the pitching rotation shaft of the first pitching shaft support unit and the azimuth rotation shaft to move, so that the pointing error caused by the inclination of the base is corrected.
4. The portable two-axis electric pointing mechanism according to claim 1, further comprising a first support arm and a second support arm, wherein two ends of the load support plate are connected to the first pitch axis support unit and the second pitch axis support unit through the first support arm and the second support arm, respectively.
5. The portable two-axis electric pointing mechanism according to claim 1, further comprising a first pitch axis sealing mechanism, a second pitch axis sealing mechanism and an azimuth axis sealing mechanism, wherein the first pitch axis sealing mechanism, the second pitch axis sealing mechanism and the azimuth axis sealing mechanism are all in cylindrical revolution structures, and the inner diameter of the first pitch axis sealing mechanism is tightly matched with the pitch rotation axis of the first pitch axis supporting unit in a shaft hole manner;
the inner diameter of the second pitching shaft sealing mechanism is tightly matched with the pitching rotation shaft of the second pitching shaft supporting unit;
the inner diameter of the azimuth shaft sealing mechanism is tightly matched with the azimuth rotation shaft of the azimuth shaft supporting unit.
6. The portable two-axis electric pointing mechanism according to claim 2, further comprising a pitch electric limit mechanism, wherein a moving element of the pitch electric limit mechanism is sleeved on a pitch rotation axis of the second pitch axis support unit.
7. The portable two-axis electric pointing mechanism of claim 1, further comprising a human-machine interaction interface unit and a display screen, the human-machine interaction interface unit and the display screen being respectively connected to the servo control and data processing system.
8. The portable two-axis electric pointing mechanism of claim 1, further comprising a main housing, wherein the pitch axis movement mechanism module, the first pitch axis support unit, the second pitch axis support unit, the azimuth axis movement mechanism module, the azimuth axis support unit, and the servo control and data processing system are all mounted to an interior cavity of the main housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410166346.2A CN117707225B (en) | 2024-02-06 | 2024-02-06 | Portable two-axis electric pointing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410166346.2A CN117707225B (en) | 2024-02-06 | 2024-02-06 | Portable two-axis electric pointing mechanism |
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| Publication Number | Publication Date |
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| CN117707225A true CN117707225A (en) | 2024-03-15 |
| CN117707225B CN117707225B (en) | 2024-04-09 |
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| CN202410166346.2A Active CN117707225B (en) | 2024-02-06 | 2024-02-06 | Portable two-axis electric pointing mechanism |
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| CN117707225B (en) | 2024-04-09 |
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